/**
 ******************************************************************************
 *
 * @file       pios_board.h
 * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
 * @brief      Defines PiOS board hardware for the OpenPilot OPLink Mini board.
 * @see        The GNU Public License (GPL) Version 3
 *
 *****************************************************************************/
/*
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
 * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
 * for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program; if not, write to the Free Software Foundation, Inc.,
 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 */

#ifndef PIOS_BOARD_H
#define PIOS_BOARD_H
#define ADD_ONE_ADC

// ------------------------
// Timers and Channels Used
// ------------------------
/*
   Timer | Channel 1 | Channel 2 | Channel 3 | Channel 4
   ------+-----------+-----------+-----------+----------
   TIM1  |  Servo 4  |           |           |
   TIM2  |  RC In 5  |  RC In 6  |  Servo 6  |
   TIM3  |  Servo 5  |  RC In 2  |  RC In 3  |  RC In 4
   TIM4  |  RC In 1  |  Servo 3  |  Servo 2  |  Servo 1
   ------+-----------+-----------+-----------+----------
 */

// ------------------------
// DMA Channels Used
// ------------------------
/* Channel 1  -                                 */
/* Channel 2  -                                 */
/* Channel 3  -                                 */
/* Channel 4  -                                 */
/* Channel 5  -                                 */
/* Channel 6  -                                 */
/* Channel 7  -                                 */
/* Channel 8  -                                 */
/* Channel 9  -                                 */
/* Channel 10 -                                 */
/* Channel 11 -                                 */
/* Channel 12 -                                 */


// ------------------------
// BOOTLOADER_SETTINGS
// ------------------------
#define BOARD_READABLE TRUE
#define BOARD_WRITABLE TRUE
#define MAX_DEL_RETRYS 3


// ------------------------
// WATCHDOG_SETTINGS
// ------------------------
#define PIOS_WATCHDOG_TIMEOUT 500
#define PIOS_WDG_REGISTER     BKP_DR4
#define PIOS_WDG_TELEMETRYTX  0x0001
#define PIOS_WDG_TELEMETRYRX  0x0002
#define PIOS_WDG_RADIOTX      0x0004
#define PIOS_WDG_RADIORX      0x0008
#define PIOS_WDG_RFM22B       0x000f
#define PIOS_WDG_PPMINPUT     0x0010
#define PIOS_WDG_SERIALRX     0x0020

// ------------------------
// TELEMETRY
// ------------------------
#define TELEM_QUEUE_SIZE      20

// ------------------------
// PIOS_LED
// ------------------------
#define PIOS_LED_USB          0
#define PIOS_LED_LINK         1
#define PIOS_LED_RX           2
#define PIOS_LED_TX           3
#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
#define PIOS_LED_D1           4
#define PIOS_LED_D2           5
#define PIOS_LED_D3           6
#define PIOS_LED_D4           7
#endif

#define PIOS_LED_HEARTBEAT    PIOS_LED_LINK
#define PIOS_LED_ALARM        PIOS_LED_TX

#define USB_LED_ON            PIOS_LED_On(PIOS_LED_USB)
#define USB_LED_OFF           PIOS_LED_Off(PIOS_LED_USB)
#define USB_LED_TOGGLE        PIOS_LED_Toggle(PIOS_LED_USB)

#define LINK_LED_ON           PIOS_LED_On(PIOS_LED_LINK)
#define LINK_LED_OFF          PIOS_LED_Off(PIOS_LED_LINK)
#define LINK_LED_TOGGLE       PIOS_LED_Toggle(PIOS_LED_LINK)

#define RX_LED_ON             PIOS_LED_On(PIOS_LED_RX)
#define RX_LED_OFF            PIOS_LED_Off(PIOS_LED_RX)
#define RX_LED_TOGGLE         PIOS_LED_Toggle(PIOS_LED_RX)

#define TX_LED_ON             PIOS_LED_On(PIOS_LED_TX)
#define TX_LED_OFF            PIOS_LED_Off(PIOS_LED_TX)
#define TX_LED_TOGGLE         PIOS_LED_Toggle(PIOS_LED_TX)

#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
#define D1_LED_ON             PIOS_LED_On(PIOS_LED_D1)
#define D1_LED_OFF            PIOS_LED_Off(PIOS_LED_D1)
#define D1_LED_TOGGLE         PIOS_LED_Toggle(PIOS_LED_D1)

#define D2_LED_ON             PIOS_LED_On(PIOS_LED_D2)
#define D2_LED_OFF            PIOS_LED_Off(PIOS_LED_D2)
#define D2_LED_TOGGLE         PIOS_LED_Toggle(PIOS_LED_D2)

#define D3_LED_ON             PIOS_LED_On(PIOS_LED_D3)
#define D3_LED_OFF            PIOS_LED_Off(PIOS_LED_D3)
#define D3_LED_TOGGLE         PIOS_LED_Toggle(PIOS_LED_D3)

#define D4_LED_ON             PIOS_LED_On(PIOS_LED_D4)
#define D4_LED_OFF            PIOS_LED_Off(PIOS_LED_D4)
#define D4_LED_TOGGLE         PIOS_LED_Toggle(PIOS_LED_D4)
#endif

// -------------------------
// System Settings
// -------------------------
#define PIOS_MASTER_CLOCK     72000000
#define PIOS_PERIPHERAL_CLOCK (PIOS_MASTER_CLOCK / 2)

// -------------------------
// Interrupt Priorities
// -------------------------
#define PIOS_IRQ_PRIO_LOW     12              // lower than RTOS
#define PIOS_IRQ_PRIO_MID     8               // higher than RTOS
#define PIOS_IRQ_PRIO_HIGH    5               // for SPI, ADC, I2C etc...
#define PIOS_IRQ_PRIO_HIGHEST 4 // for USART etc...

// ------------------------
// PIOS_I2C
// See also pios_board.c
// ------------------------
#define PIOS_I2C_MAX_DEVS     1
extern uint32_t pios_i2c_flexi_adapter_id;
#define PIOS_I2C_MAIN_ADAPTER (pios_i2c_flexi_adapter_id)

// ------------------------
// PIOS_SPI
// See also pios_board.c
// ------------------------
#define PIOS_SPI_MAX_DEVS   1

// -------------------------
// PIOS_USART
// -------------------------
#define PIOS_USART_MAX_DEVS 3

// -------------------------
// PIOS_COM
//
// See also pios_board.c
// -------------------------
#define PIOS_COM_MAX_DEVS 5

extern uint32_t pios_com_telem_usb_id;
extern uint32_t pios_com_telem_vcp_id;
extern uint32_t pios_com_telem_uart_main_id;
extern uint32_t pios_com_telem_uart_flexi_id;
extern uint32_t pios_com_telemetry_id;
extern uint32_t pios_com_rfm22b_id;
extern uint32_t pios_com_radio_id;
extern uint32_t pios_ppm_rcvr_id;
extern uint32_t pios_ppm_out_id;
#define PIOS_COM_TELEM_USB_HID    (pios_com_telem_usb_id)
#define PIOS_COM_TELEM_USB        PIOS_COM_TELEM_USB_HID
#define PIOS_COM_TELEM_USB_VCP    (pios_com_telem_vcp_id)
#define PIOS_COM_TELEM_UART_MAIN  (pios_com_telem_uart_main_id)
#define PIOS_COM_TELEM_UART_FLEXI (pios_com_telem_uart_flexi_id)
#define PIOS_COM_TELEMETRY        (pios_com_telemetry_id)
#define PIOS_COM_RFM22B           (pios_com_rfm22b_id)
#define PIOS_COM_RADIO            (pios_com_radio_id)
#define PIOS_PPM_RECEIVER         (pios_ppm_rcvr_id)
#define PIOS_PPM_OUTPUT           (pios_ppm_out_id)

#define RFM22_DEBUG               1

// -------------------------
// ADC
// None
// -------------------------
// #define PIOS_ADC_OVERSAMPLING_RATE		1
#define PIOS_ADC_USE_TEMP_SENSOR         0
#define PIOS_ADC_TEMP_SENSOR_ADC         ADC1
#define PIOS_ADC_TEMP_SENSOR_ADC_CHANNEL 1

#define PIOS_ADC_NUM_PINS                0

#define PIOS_ADC_PORTS                   {}
#define PIOS_ADC_PINS                    {}
#define PIOS_ADC_CHANNELS                {}
#define PIOS_ADC_MAPPING                 {}
#define PIOS_ADC_CHANNEL_MAPPING         {}
#define PIOS_ADC_NUM_CHANNELS            (PIOS_ADC_NUM_PINS + PIOS_ADC_USE_TEMP_SENSOR)
#define PIOS_ADC_NUM_ADC_CHANNELS        0
#define PIOS_ADC_USE_ADC2                0
#define PIOS_ADC_CLOCK_FUNCTION          RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1 | RCC_APB2Periph_ADC2, ENABLE)
#define PIOS_ADC_ADCCLK                  RCC_PCLK2_Div8
/* RCC_PCLK2_Div2: ADC clock = PCLK2/2 */
/* RCC_PCLK2_Div4: ADC clock = PCLK2/4 */
/* RCC_PCLK2_Div6: ADC clock = PCLK2/6 */
/* RCC_PCLK2_Div8: ADC clock = PCLK2/8 */
#define PIOS_ADC_SAMPLE_TIME             ADC_SampleTime_239Cycles5
/* Sample time: */
/* With an ADCCLK = 14 MHz and a sampling time of 239.5 cycles: */
/* Tconv = 239.5 + 12.5 = 252 cycles = 18�s */
/* (1 / (ADCCLK / CYCLES)) = Sample Time (�S) */
#define PIOS_ADC_IRQ_PRIO                PIOS_IRQ_PRIO_LOW

// Currently analog acquistion hard coded at 480 Hz
// PCKL2 = HCLK / 16
// ADCCLK = PCLK2 / 2
#define PIOS_ADC_RATE                    (72.0e6 / 1.0 / 8.0 / 252.0 / (PIOS_ADC_NUM_CHANNELS >> PIOS_ADC_USE_ADC2))
#define PIOS_ADC_MAX_OVERSAMPLING        36

#define PIOS_ADC_TEMPERATURE_PIN         0

// ------------------------
// PIOS_RCVR
// See also pios_board.c
// ------------------------
#define PIOS_RCVR_MAX_DEVS           3
#define PIOS_RCVR_MAX_CHANNELS       12
#define PIOS_GCSRCVR_TIMEOUT_MS      100

// -------------------------
// Receiver PPM input
// -------------------------
#define PIOS_PPM_MAX_DEVS            1
#define PIOS_PPM_NUM_INPUTS          8

// -------------------------
// Receiver PWM inputs
// -------------------------
#define PIOS_PWM_NUM_INPUTS          4

// -------------------------
// Servo outputs
// -------------------------
#define PIOS_SERVO_UPDATE_HZ         50
#define PIOS_SERVOS_INITIAL_POSITION 0 /* dont want to start motors, have no pulse till settings loaded */
#define PIOS_SERVO_BANKS             6

// --------------------------
// Timer controller settings
// --------------------------
#define PIOS_TIM_MAX_DEVS            3

// -------------------------
// GPIO
// -------------------------
#define PIOS_GPIO_PORTS              {}
#define PIOS_GPIO_PINS               {}
#define PIOS_GPIO_CLKS               {}
#define PIOS_GPIO_NUM                0

// -------------------------
// USB
// -------------------------
#define PIOS_USB_HID_MAX_DEVS        1
#define PIOS_USB_ENABLED             1
#define PIOS_USB_HID_MAX_DEVS        1
#define PIOS_USB_MAX_DEVS            1
#define PIOS_USB_DETECT_GPIO_PORT    GPIOC
#define PIOS_USB_DETECT_GPIO_PIN     GPIO_Pin_15
#define PIOS_USB_DETECT_EXTI_LINE    EXTI_Line15

// -------------------------
// RFM22
// -------------------------

#if defined(PIOS_INCLUDE_RFM22B)
extern uint32_t pios_spi_rfm22b_id;
#define PIOS_RFM22_SPI_PORT (pios_spi_rfm22b_id)
extern uint32_t pios_rfm22b_id;
#endif /* PIOS_INCLUDE_RFM22B */

// -------------------------
// Packet Handler
// -------------------------
extern uint32_t pios_packet_handler;
#define PIOS_PACKET_HANDLER     (pios_packet_handler)
#define PIOS_PH_MAX_PACKET      255
#define PIOS_PH_WIN_SIZE        3
#define PIOS_PH_MAX_CONNECTIONS 1
#define RS_ECC_NPARITY          4

// -------------------------
// Reed-Solomon ECC
// -------------------------

#define RS_ECC_NPARITY 4

// -------------------------
// Flash EEPROM Emulation
// -------------------------

#define PIOS_FLASH_SIZE              0x20000
#define PIOS_FLASH_EEPROM_START_ADDR 0x08000000
#define PIOS_FLASH_PAGE_SIZE         1024
#define PIOS_FLASH_EEPROM_ADDR       (PIOS_FLASH_EEPROM_START_ADDR + PIOS_FLASH_SIZE - PIOS_FLASH_PAGE_SIZE)
#define PIOS_FLASH_EEPROM_LEN        PIOS_FLASH_PAGE_SIZE

#endif /* PIOS_BOARD_H */
